new icp params

yaml/csm.yaml

@@ -44,3 +44,9 @@ sigma:                        0.2   # Noise of the scan
 do_compute_covariance:        true
 cov_factor:                   5     # Factor multiplying the cov output of csm
 cov_max_eigv_factor:          5     # Factor multiplying the direction of the max eigenvalue of the cov output of csm 
+
+# ATTEMPTS
+attempts:                     5     # If result is not valid (algorithm error, high error or low points ratio)
+perturbation_new_attempts:    1e-1  # Factor multiplying random perturbation of initial_guess from 2nd attempt
+max_mean_error:               1     # Max mean error threshold to declare result invalid
+min_points_ratio:             0.1   # Min ratio of matched points to declare result invalid
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